• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2325-2330
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• 2005

A potential field method for solving the problem of path planning based on global and local information for a mobile robot moving among a set of stationary obstacles is described. The concept of various method used path planning is used design a planning strategy. A real human living area is constructed by many moving and imminence obstacles. Home service mobile robot must avoid many obstacles instantly. A path that safe and attraction towards the goal is chosen. The potential function depends on distance from the goal and heuristic function relies on surrounding environments. Three additional combined methods are proposed to apply to human living area, calibration robots position by measured surrounding environment and adapted home service robots. In this work, we proposed the application of various path planning theory to real area, human living. First, we consider potential field method. Potential field method is attractive method, but that method has great problem called local minimum. So we proposed intermediate point in real area. Intermediate point was set in doorframe and between walls there is connect other room or other area. Intermediate point is very efficiency in computing path. That point is able to smaller area, area divided by intermediate point line. The important idea is intermediate point is permanent point until destruction house or apartment house. Second step is move robot with sensing on front of mobile robot. With sensing, mobile robot recognize obstacle and judge moving obstacle. If mobile robot is reach the intermediate point, robot sensing the surround of point. Mobile robot has data about intermediate point, so mobile robot is able to calibration robots position and direction. Third, we gave uncertainty to robot and obstacles. Because, mobile robot was motion and sensing ability is not enough to control. Robot and obstacle have uncertainty. So, mobile robot planed safe path planning to collision free. Finally, escape local minimum, that has possibility occur robot do not work. Local minimum problem solved by virtual obstacle method. Next is some supposition in real living area.

• JSTS:Journal of Semiconductor Technology and Science
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• v.2 no.4
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• pp.280-287
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• 2002

We present technical issues involved in the development of actuators and sensors for applications to high-precision Micro Electro Mechanical System (MEMS). The technical issues include fabrication uncertainty and noise disturbance, causing major difficulties for MEMS to achieve high-precision actuation and detection functions. For nano-precision actuators, we solve the fabrication instability and electrical noise problems using digital actuators coupled with nonlinear mechanical modulators. For the high-precision capacitive sensors, we present a branched finger electrodes using high-amplitude anti-phase sensing signals. We also demonstrate the potential applications of the nanoactuators and nanodetectors to high-precision positioning MEMS.

• International Journal of Automotive Technology
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• v.7 no.5
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• pp.609-618
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• 2006

This paper presents the lateral control of an autonomous vehicle by using a look-ahead sensing system. In look-ahead sensing by an absolute positioning system, a reference lane, constructed by straight lanes or circular lanes, was switched by a segment switching algorithm. To cope with sensor noise and modeling uncertainty, a robust LMI-based $H_{\infty}$ lateral controller was designed by the feedback of lateral offset and yaw angle error at the vehicle look-ahead. In order to verify the safety and the performance of lateral control, a scaled-down vehicle was developed and the location of the vehicle was detected by using an ultrasonic local positioning system. In the mechatronic scaled-down vehicle, the lateral model and parameters are verified and estimated by a J-turn test. For the lane change and reference lane tracking, the lateral controllers are used experimentally. The experimental results show that the $H_{\infty}$ controller is robust and has better performance compared with look-down sensing.

• Journal of Communications and Networks
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• v.14 no.3
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• pp.225-229
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• 2012

We examine spectrum sensing in a situation of uncertain channel model. In particular, we assume that, besides additive noise, the observed signal contains an interference term whose probability distribution is unknown, and only its range and maximum power are known. We discuss the evaluation of the detector performance and its design in this situation. Although this paper specifically deals with the design of spectrum sensors, its scope is wider, as the applicability of its results extends to a general class of problems that may arise in the design of receivers whenever there is uncertainty about how to model the environment in which one is expected to operate. The theory expounded here allows one to determine the performance of a receiver, by combining the available (objective) probabilistic information with (subjective) information describing the designer's attitude.

• Journal of Forest and Environmental Science
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• v.33 no.4
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• pp.295-304
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• 2017

This study compared and analyzed the construction of a land use change matrix for the Intergovernmental Panel on Climate Change's (IPCC) land use, land use change, and forestry area (LULUCF). We used National Forest Inventory (NFI) permanent sample plots (with a sample intensity of 4 km) and permanent sample plots with 500 m sampling intensity. The land use change matrix was formed using the point sampling method, Level-2 Land Cover Maps, and forest aerial photographs (3rd and 4th series). The land use change matrix using the land cover map indicated that the annual change in area was the highest for forests and cropland; the cropland area decreased over time. We evaluated the uncertainty of the land use change matrix. Our results indicated that the forest land use, which had the most sampling, had the lowest uncertainty, while the grassland and wetlands had the highest uncertainty and the least sampling. The uncertainty was higher for the 4 km sampling intensity than for the 500 m sampling intensity, which indicates the importance of selecting the appropriate sample size when constructing a national land use change matrix.

• Journal of Korean Society of Forest Science
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• v.100 no.3
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• pp.315-326
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• 2011

In recent years, domestic and international interests focus on climate change, and importance of forest as carbon sink have been also increased. Particularly REDD+ mechanism expanded from REDD (Reduced Emissions from Deforestation and Degradation) is expected to perform a new mechanism for reducing greenhouse gas in post 2012. To conduct this mechanism, countries which try to get a carbon credit have to certify effectiveness of their activities by MRV (Measuring, Reporting and Verification) system. This study analyzed the approaches for detecting land cover change and estimating carbon stock by remote sensing technology which is considered as the effective method to develop MRV system. The most appropriate remote sensing for detection of land cover change is optical medium resolution sensors and satellite SAR (Synthetic Aperture Radar) according to cost efficiency and uncertainty assessment. In case of estimating carbon stock, integration of low uncertainty techniques, airborne LiDAR (Light Detection and Ranging), SAR, and cost efficient techniques, optical medium resolution sensors and satellite SAR, could be more appropriate. However, due to absence of certificate authority, guideline, and standard of uncertainty, we should pay continuously our attention on international information flow and establish appropriate methods. Moreover, to apply monitoring system to developing countries, close collaboration and monitoring method reflected characteristics of each countries should be considered.

• 한국신재생에너지학회:학술대회논문집
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• 2010.06a
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• pp.185.1-185.1
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• 2010

원격탐사(remote sensing)란 관측 대상과의 접촉 없이 멀리서 정보를 얻어내는 기술을 말한다. 기상관측분야에는 이미 소다(SODAR) 장비가 폭넓게 사용되거 왔으나 최근 풍력자원평가(wind resource assessment)를 위한 풍황측정에 SODAR와 더불어 라이다(LIDAR)가 적극적으로 활용되기 시작하고 있다. 참고로 SODAR(SOnic Detection And Ranging)는 수직 및 동서 남북 방향으로 음파를 발생시키고 대기유동에 의해 산란 반사된 에코를 수신하여 진동수 변화와 반사에코 강도를 측정하여 각 방향의 에코자료를 벡터 합성함으로써 풍향 및 풍속을 산출하는 원리이다. 반면 LIDAR(Light Detection And Ranging)는 비교적 최근에 풍황측정 용도로 개발된 레이저 탐지에 바탕을 둔 원거리 센서로, 공기입자(먼지, 수증기, 구름, 안개, 오염물질 등)에 의해 산란된 레이저 발산의 도플러 쉬프트(Doppler shift)를 이용하여 풍향 및 풍속을 측정하는 원격탐사 장비이다. 풍력자원평가 측면에서 라이다는 그 정확도가 IEC61400-12에 의거한 풍황탑(met-mast) 측정자료 다수와의 비교검증 실측평가(Albers et al., 2009)를 통하여 입증된 바 있다. 한편 한국에너지기술연구원에서 운용 중인 라이다 시스템은 그림 1의 우측 그림과 같이 1초에 $360^{\circ}$를 스캔하여 50지점에서 반사되는 레이저를 스펙트럼으로 측정하되 설정된 관측높이에서 풍속은 샘플링 부피(sampling volume)의 평균값으로 정의된다. 그런데 샘플링 부피는 설정된 관측높이로부터 상하 12.5m, 총 25m의 높이구간에서 관측한 스펙트럼의 평균값을 그 중앙지점에서의 풍속으로 환산하는 알고리듬(algorithm)을 채택하고 있다. 따라서 비선형적으로 변화하는 풍속연직분포 관측 시 풍속환산 알고리듬에 의한 측정오차가 개입될 가능성이 존재하는 것이다. 이에 본 연구에서는 라이다에 의한 풍속연직분포 측정 시 샘플링 부피의 구간 평균화 과정에서 발생하는 불확도(uncertainty)를 정량적으로 분석함으로써 라이다에 의한 풍속연직분포 관측의 불확도를 정량평가하고자 한다.

• Korean Journal of Remote Sensing
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• v.38 no.4
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• pp.327-341
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• 2022

Cloud removal is often required to construct time-series sets of optical images for environmental monitoring. In regression-based cloud removal, the selection of an appropriate regression model and the impact analysis of the input images significantly affect the prediction performance. This study evaluates the potential of Gaussian process (GP) regression for cloud removal and also analyzes the effects of cloud-free optical images and spectral bands on prediction performance. Unlike other machine learning-based regression models, GP regression provides uncertainty information and automatically optimizes hyperparameters. An experiment using Sentinel-2 multi-spectral images was conducted for cloud removal in the two agricultural regions. The prediction performance of GP regression was compared with that of random forest (RF) regression. Various combinations of input images and multi-spectral bands were considered for quantitative evaluations. The experimental results showed that using multi-temporal images with multi-spectral bands as inputs achieved the best prediction accuracy. Highly correlated adjacent multi-spectral bands and temporally correlated multi-temporal images resulted in an improved prediction accuracy. The prediction performance of GP regression was significantly improved in predicting the near-infrared band compared to that of RF regression. Estimating the distribution function of input data in GP regression could reflect the variations in the considered spectral band with a broader range. In particular, GP regression was superior to RF regression for reproducing structural patterns at both sites in terms of structural similarity. In addition, uncertainty information provided by GP regression showed a reasonable similarity to prediction errors for some sub-areas, indicating that uncertainty estimates may be used to measure the prediction result quality. These findings suggest that GP regression could be beneficial for cloud removal and optical image reconstruction. In addition, the impact analysis results of the input images provide guidelines for selecting optimal images for regression-based cloud removal.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.10a
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• pp.808-811
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• 2015

Cognitive radio has been proposed as a promising dynamic spectrum allocation paradigm. In cognitive radio, spectrum sensing is a fundamental procedure that enables secondary users (unlicensed) employing unused portion of spectrum of primary users (licensed) without causing harmful interference. However, the performance of single-user spectrum-sensing scheme was limited by fading, noise uncertainty shadowing and hidden node problem. Cooperative spectrum sensing was proposed to mitigate these problem. In this paper, we observe cooperative sensing scheme with energy detection using three adaptive thresholds for local decision, which can mitigate sensing failure problem and improve sensing performance at local node. In cooperative scheme we employed OR rules as decision combining at fusion center. We evaluate our scheme through computer simulation, and the results show that with OR combination rule our scheme can achieve best performance than other schemes.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.5 no.4
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• pp.649-664
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• 2011

Cooperative spectrum sensing (CSS) with decision fusion is considered as a key technology for tackling the challenges caused by fading/shadowing effects and noise uncertainty in spectrum sensing in cognitive radio. However, most existing solutions assume an error-free decision transmission, which is obviously not the case in realistic scenarios. This paper extends the general decision-fusion-based CSS scheme by considering the fading/shadowing effects and noise corruption in the common control channels. With this more practical model, the fusion centre first estimates the local decisions using a binary minimum error probability detector, and then combines them to get the final result. Theoretical analysis and simulation of this CSS scheme are performed over typical channels, which suggest some performance deterioration compared with the pure case that assumes an error-free decision transmission. Furthermore, the fusion strategy optimization in the proposed cooperation model is also investigated using the Bayesian criteria. The numerical results show that the total error rate of noisy CSS is higher than that of the pure case, and the optimal values of fusion parameter in the counting rule under both cases decrease as the local detection threshold increases.